Apparatus and methods for temporal proximity detection

ABSTRACT

A data processing apparatus may utilize an artificial neuron network configured to reduce dimensionality of input data using a sparse transformation configured using receptive field structure of network units. Output of the network may be analyzed for temporally persistency that is characterized by similarity matrix. Elements of the matrix may be incremented when present activity unit activity at a preceding frame. The similarity matrix may be partitioned based on a distance measure for a given element of the matrix and its closest neighbors. Stability of learning of temporally proximal patterns may be greatly improved as the similarity matrix is learned independently of the partitioning operation. Partitioning of the similarity matrix using the methodology of the disclosure may be performed online, e.g., contemporaneously with the encoding and/or similarity matrix construction, thereby enabling learning of new features in the input data.

PRIORITY APPLICATIONS

This application is a continuation of and claims priority to co-ownedU.S. patent application Ser. No. 14/191,383 entitled “Apparatus andMethods for Temporal Proximity Detection”, filed Feb. 26, 2014, issuingas U.S. Pat. No. 9,373,038 on Jun. 21, 2016, which is incorporatedherein by reference in its entirety.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is related to a co-pending and co-owned U.S. patentapplication Ser. No. 13/763,005 filed Feb. 8, 2013 and entitled “SPIKINGNETWORK APPARATUS AND METHOD WITH BIMODAL SPIKE-TIMING DEPENDENTPLASTICITY”, the foregoing being incorporated herein by reference in itsentirety.

COPYRIGHT

A portion of the disclosure of this patent document contains materialthat is subject to copyright protection. The copyright owner has noobjection to the facsimile reproduction by anyone of the patent documentor the patent disclosure, as it appears in the Patent and TrademarkOffice patent files or records, but otherwise reserves all copyrightrights whatsoever.

BACKGROUND Field of the Disclosure

The present disclosure relates computerized apparatus and methods fordetermining temporally persistent patterns in sensory input.

Description of Related Art

Object recognition in the context of computer vision relates to findinga given object in an image or a sequence of frames in a video segment.Typically, temporally proximate features that have high temporalcorrelations are identified within the sequence of frames, withsuccessive frames containing temporally proximate representations of anobject (persistent patterns). Object representations, also referred toas the “view”, may change from frame to frame due to a variety of objecttransformations, such as rotation, movement, translation, change inlighting, background, noise, appearance of other objects, partialblocking and/or unblocking of the object, and/or other objecttransformations. Temporally proximate object representations occur whenthe frame rate of object capture is commensurate with the timescales ofthese transformations, so that at least a subset of a particular objectrepresentation appears in several consecutive frames. Temporal proximityof object representations allows a computer vision system to recognizeand associate different views with the same object (for example,different phases of a rotating triangle are recognized and associatedwith the same triangle). Such temporal processing (also referred to aslearning) may enable object detection and tracking based on an invariantsystem response with respect to commonly appearing transformations(e.g., rotation, scaling, translation, and/or other commonly appearingtransformations).

Some existing approaches to binding or associating temporarily proximateobject features from different frames utilize artificial neuron networks(ANN). Accordingly, during operation such networks may not be able toaccommodate changes of the temporally proximate features that were notpresent in the input during training.

SUMMARY

One aspect of the disclosure relates to a non-transitorycomputer-readable storage medium having instructions embodied thereon,the instructions being executable to perform a method of detecting atemporally persistent pattern in a sequence of image frames. The methodmay comprise encoding individual frames of the sequence of image framesinto spike packets using a sparse transformation. The sparsetransformation may be characterized by an information reductionparameter. The method may comprise determining a first spike within thespike packets. The first spike may be associated with a firstrepresentation of the pattern. The first spike may be characterized by afirst time and a first ID. The method may comprise determining a secondspike within the spike packets. The second spike may be associated witha second representation of the pattern. The second spike may becharacterized by a second time and a second ID. The method may comprisedetermining a similarity matrix comprising a plurality of elements.Individual elements of the similarity matrix may be configured to bedetermined based on a comparison of the first ID and the second ID and acomparison of the first time and the second time. The method maycomprise selecting a first vector from the similarity matrix. The firstvector may be associated with the first ID. The method may compriseassigning the first vector to a category based on a distance measurefrom the first vector to one or more other vectors of the similaritymatrix. Assignment of the first vector and one or more other vectors ofthe similarity matrix to the category may indicate the firstrepresentation being temporally proximate to the second representation.

Another aspect of the disclosure relates to a method of operating acomputerized signal classification apparatus comprising network ofnodes. The method may be performed by one or more processors configuredto execute computer program instructions. The method may comprise usingone or more processors to communicate a first version of a signal to anencoder portion of nodes of the network of nodes via a plurality ofconnections. The method may comprise using one or more processors tocause a first response by at least one node of the encoder portion basedon the first version the signal. The method may comprise using one ormore processors to update an efficacy of one or more connections of theplurality of connections. The method may comprise using one or moreprocessors to determine a similarity measure based on the first responseand a second response generated by a node of the encoder portion basedon a second version the signal provided to nodes of the encoder nodeportion via the plurality of connections. The method may comprise usingone or more processors to, based on the similarity measure, determine aninput into a classifier portion of the network nodes of the network. Theinput may comprise a portion of the similarity measure corresponding tothe at least one node. The method may comprise using one or moreprocessors to cause an output generation by one and only one node of theclassifier portion based on the input. The output may be indicative of afeature being present in the signal.

In some implementations, the input may be provided to nodes of theclassifier portion via a second plurality of connections. The method maycomprise evaluating efficacy of one or more connections of the secondplurality of connections. The method may comprise communicating thesignal to the one and only one node. The evaluation of the efficacy maybe configured to increase a probability of another output generation bythe one and only one node responsive to a presence of the feature in thesignal subsequent to the output generation.

In some implementations, the first version of the signal and the secondversion of the signal both may comprise representations of the feature.The efficacy may comprise a connection weight configured to promote ordemote response generation by the at least one node. Updating theefficacy may increase a probability of another response generation bythe at least one node responsive to occurrence of another representationof the feature at a time subsequent to a time associated with the firstversion of the signal.

In some implementations, the signal may comprise a first frame and asecond frame. The first frame and the second frame each may includedigitized pixels generated by a sensing aperture of at least a sensorapparatus. The first frame may include a first representation of thefeature transitioning across the sensing aperture. The second frame mayinclude a second representation of the feature transitioning across thesensing aperture. The output may be generated responsive to anoccurrence of the first representation being temporally proximate to thesecond representation.

In some implementations, the first representation of the feature and thesecond representation of the feature both may correspond to the featureundergoing a transformation. The transformation may include one or moreof (i) a translational operation, (ii) a rotational operation, or (iii)a scaling operation. The sensing aperture of the sensor apparatus maycomprise one or more of a radio frequency antennal, a sound transducer,an optical lens, or a light sensor.

In some implementations, the occurrence of the first representationbeing temporally proximate to the second representation may bedetermined based on the first representation occurring within a timewindow from the second representation. The first response may beprovided responsive to an occurrence of the first representation. Thesecond response may be provided responsive to an occurrence of thesecond representation. The similarity measure determination maderesponsive to the first response and the second response may occurwithin the time window.

In some implementations, the time window may have a duration between 0.1milliseconds to 10 seconds, inclusive.

In some implementations, the first response may be generated responsiveto the first frame comprising the first representation of the feature.The second response may be generated responsive to the second framecomprising the second representation of the feature. The similaritymeasure determination may be made based on a comparison of a timeinterval between an occurrence of the first response and an occurrenceof the second response.

In some implementations, the similarity measure determination maderesponsive to the first response and the second response may occurwithin a time window. The second version temporally precedes the firstversion.

In some implementations, the first version of the signal and the secondversion of the signal both may comprise a plurality of sensory frames.The first version may be determined based on a first representation ofthe feature at a first time. The second version may be determined basedon a second representation of the feature at a second time. Thesimilarity measure may comprise a plurality of indexed vectors.Individual vectors of the plurality of indexed vectors may be determinedbased occurrence of one or more responses corresponding to one or moreindividual ones of the plurality of encoded frames. The one or moreresponses may comprise the first response and the second response. Theportion of the similarity measure may comprise a vector of the pluralityof indexed vectors. The vector may correspond to the at least one nodegenerating the response. The output generation may be determined basedon a distance measure between the vector and one or more individual onesof the plurality of indexed vectors.

In some implementations, the similarity measure may comprise a matrix.Individual ones of the plurality of indexed vectors may comprise acolumn or a row of the matrix. For an inter-frame interval, the timeinterval between the first time and the second time may be selectedbetween one inter-frame interval and 250 inter-frame intervals.

In some implementations, the distance measure may be determined based ona distance determination operation may include one or more of Euclideandistance, radial distance, or rectilinear distance.

In some implementations, the encoder portion of the network may comprisea first number of nodes configured to effectuate a sparse transformationof individual ones of the plurality of sensory frames into a pluralityof encoded frames. The first number of nodes of the encoder portion maybe configured to generate a response associated with the plurality ofencoded frames. The sparse transformation may be characterized by asecond number of nodes responding to a given sensory frame of theplurality of sensory frames being smaller than the first number ofnodes.

In some implementations, the first version of the signal and the secondversion of the signal both may comprise a plurality of sensory frames.The first version may be determined based on a first representation ofthe feature at a first time. The second version may be determined basedon a second representation of the feature at a second time. Thesimilarity measure may comprise a matrix of elements. Individualelements of the matrix may be determined responsive to occurrence of oneor more responses corresponding to one or more individual ones of theplurality of encoded frames. The one or more responses may comprise thefirst response and the second response. The matrix may be characterizedby one or more eigenvectors associated with one or more nodes of theencoder portion. The portion of the similarity measure may comprise aneigenvector vector of the matrix. The eigenvector may correspond to theat least one node generating the response. The output generation may bedetermined based on a distance measure between the eigenvector and oneor more individual ones of the one or more eigenvectors.

In some implementations, the signal may comprise a first frame havingdigitized pixels corresponding to the first version of the signal and asecond frame having digitized pixels corresponding to the second versionof the signal. The first frame may comprise a first representation ofthe feature at a first time. The second frame may comprise a secondrepresentation of the feature at a second time. The at least one nodemay comprise a first artificial spiking neuron and a second artificialspiking neuron. The first artificial spiking neuron may be characterizedby a first receptive area of the first frame. The second artificialspiking neuron may be characterized by a second receptive area of thesecond frame. The first response may comprise a first spike communicatedby the first artificial spiking neuron based on an evaluation of one ormore pixels within the first area of the first frame. The secondresponse may comprise a second spike communicated by the secondartificial spiking neuron based on an evaluation of one or more pixelswithin the second area of the second frame.

In some implementations, the first frame and the second frame may beprovided based on output of one or more of a visible light sensor, anaudio sensor, a pressure sensor, or a radar device.

In some implementations, the first frame and the second frames may beseparated by an interframe time interval. The second frame maytemporally precede or temporally succeed the first frame. The firstframe and the second frame may comprise two representations of thefeature that are separated at least by the interframe time interval fromone another.

Yet another aspect of the disclosure relates to a computerized apparatusconfigured to detect a first temporally persistent pattern and a secondtemporally persistent pattern in data stream input data comprising aplurality of packets. The apparatus may comprise one or more processorsconfigured to execute computer program instructions. The computerprogram instructions may comprise an encoder component configured, whenexecuted, to transform individual ones of the plurality of packets intoa plurality of encoded packets using a sparse transform. The computerprogram instructions may comprise a similarity component configured,when executed, to determine a similarity matrix based on a comparisonbetween a current encoded packet and one other of the plurality ofencoded packets. The current encoded packet may be configured based onthe first pattern. The one other the current encoded packet may beconfigured based on the second pattern. The computer programinstructions may comprise a classifier component configured, whenexecuted, to assign one or more portions of a similarity map into one ofa first category or a second category. Assignment of a first portion anda second portion of the one or more portions of the similarity map intothe first category may be configured to indicate a temporal persistencebetween the first pattern and the second pattern. The first portion ofthe one or more portions of the similarity map may correspond to thecurrent encoded packet. The second portion of the one or more portionsof the similarity map may correspond to the one other encoded packet.The assignment may be configured based on a distance measure between thefirst portion and individual ones of the one or more portions.

In some implementations, the one other packet may comprise a precedingor a subsequent packet relative the current encoded packet. Individualones of the plurality of packets may occur at inter-packet intervals.The current encoded packet may comprise a response to the first patternprovided by the encoder component. The one other encoded packet maycomprise a response to the second pattern provided by the encodercomponent. The one other encoded packet may occur within 200 intervalsfrom the current encoded packet.

These and other objects, features, and characteristics of the systemand/or method disclosed herein, as well as the methods of operation andfunctions of the related elements of structure and the combination ofparts and economies of manufacture, will become more apparent uponconsideration of the following description and the appended claims withreference to the accompanying drawings, all of which form a part of thisspecification, wherein like reference numerals designate correspondingparts in the various figures. It is to be expressly understood, however,that the drawings are for the purpose of illustration and descriptiononly and are not intended as a definition of the limits of theinvention. As used in the specification and in the claims, the singularform of “a”, “an”, and “the” include plural referents unless the contextclearly dictates otherwise.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a functional block diagram depicting a processing apparatususeful for detecting temporally consistent objects in sensory input,according to one or more implementations.

FIG. 2 is a graphical illustration depicting input frames into anencoder of the proximity detector, the input comprising representationsof a vertical object moving horizontally across view field, according toone or more implementations.

FIG. 3 is a graphical illustration depicting output of the encoder andthe corresponding similarity matrix determined based on the input ofFIG. 2, according to one or more implementations.

FIG. 4 is a graphical illustration depicting input frames into anencoder of the proximity detector, the input comprising representationsof a horizontal object moving horizontally across view field, accordingto one or more implementations.

FIG. 5 is a graphical illustration depicting output of the encoder andthe corresponding similarity matrix determined based on the input ofFIG. 4, according to one or more implementations.

FIG. 6 is a diagram depicting inter-element distance used in SOMsegmentation, according to one or more implementations.

FIG. 7 is a graphical illustration depicting output of segmentationoperation corresponding to the similarity matrix data shown in FIG. 3and FIG. 5, according to one or more implementations.

FIG. 8 is a logical flow diagram illustrating a method of dataprocessing useful for determining features, in accordance with one ormore implementations.

FIG. 9 is a logical flow diagram illustrating a method of determiningtemporally proximate patterns in sensory input, in accordance with oneor more implementations.

FIG. 10A is a block diagram illustrating a processing apparatuscomprising a temporally proximate feature encoding mechanism, inaccordance with one or more implementations.

FIG. 10B is a block diagram illustrating a processing apparatusconfigured for input classification, in accordance with one or moreimplementations.

FIG. 10C is a block diagram illustrating an encoder apparatus (such asfor instance that of FIG. 10A) configured for use in an image processingdevice adapted to process (i) visual signal; and/or (ii) processing ofdigitized image, in accordance with one or more implementations.

FIG. 11A is a block diagram illustrating a computerized system usefulwith a temporally proximate feature detection mechanism, in accordancewith one or more implementations.

FIG. 11B is a block diagram illustrating a neuromorphic computerizedsystem useful with useful with a temporally proximate feature detectionmechanism in accordance with one or more implementations.

FIG. 11C is a block diagram illustrating a hierarchical neuromorphiccomputerized system architecture useful with temporally proximatefeature detection mechanism, in accordance with one or moreimplementations.

FIG. 12 is a block diagram illustrating an artificial neuron networkuseful for implementing SOM-based input processing, in accordance withone or more implementations.

All Figures disclosed herein are © Copyright 2014 Brain Corporation. Allrights reserved.

DETAILED DESCRIPTION

Implementations of the present disclosure will now be described indetail with reference to the drawings, which are provided asillustrative examples so as to enable those skilled in the art topractice the present technology. Notably, the figures and examples beloware not meant to limit the scope of the present disclosure to a singleimplementation, but other implementations are possible by way ofinterchange of or combination with some or all of the described orillustrated elements. Wherever convenient, the same reference numberswill be used throughout the drawings to refer to same or like parts.

Although the system(s) and/or method(s) of this disclosure have beendescribed in detail for the purpose of illustration based on what iscurrently considered to be the most practical and preferredimplementations, it is to be understood that such detail is solely forthat purpose and that the disclosure is not limited to the disclosedimplementations, but, on the contrary, is intended to covermodifications and equivalent arrangements that are within the spirit andscope of the appended claims. For example, it is to be understood thatthe present disclosure contemplates that, to the extent possible, one ormore features of any implementation may be combined with one or morefeatures of any other implementation

In the present disclosure, an implementation showing a singularcomponent should not be considered limiting; rather, the disclosure isintended to encompass other implementations including a plurality of thesame component, and vice-versa, unless explicitly stated otherwiseherein.

Further, the present disclosure encompasses present and future knownequivalents to the components referred to herein by way of illustration.

As used herein, the term “bus” is meant generally to denote all types ofinterconnection or communication architecture that is used to access thesynaptic and neuron memory. The “bus” could be optical, wireless,infrared or another type of communication medium. The exact topology ofthe bus could be for example standard “bus”, hierarchical bus,network-on-chip, address-event-representation (AER) connection, or othertype of communication topology used for accessing, e.g., differentmemories in pulse-based system.

As used herein, the terms “computer”, “computing device”, and“computerized device”, include, but are not limited to, personalcomputers (PCs) and minicomputers, whether desktop, laptop, orotherwise, mainframe computers, workstations, servers, personal digitalassistants (PDAs), handheld computers, embedded computers, programmablelogic device, personal communicators, tablet or “phablet” computers,portable navigation aids, J2ME equipped devices, cellular telephones,smart phones, personal integrated communication or entertainmentdevices, or literally any other device capable of executing a set ofinstructions and processing an incoming data signal.

As used herein, the term “computer program” or “software” is meant toinclude any sequence or human or machine cognizable steps which performa function. Such program may be rendered in virtually any programminglanguage or environment including, for example, C/C++, C#, Fortran,COBOL, MATLAB™, PASCAL, Python, assembly language, markup languages(e.g., HTML, SGML, XML, VoXML), and the like, as well as object-orientedenvironments such as the Common Object Request Broker Architecture(CORBA), Java™ (including J2ME, Java Beans), Binary Runtime Environment(e.g., BREW), and other languages.

As used herein, the terms “connection”, “link”, “synaptic channel”,“transmission channel”, “delay line”, are meant generally to denote acausal link between any two or more entities (whether physical orlogical/virtual), which enables information exchange between theentities.

As used herein, the term “memory” includes any type of integratedcircuit or other storage device adapted for storing digital dataincluding, without limitation, ROM. PROM, EEPROM, DRAM, Mobile DRAM,SDRAM, DDR/2 SDRAM, EDO/FPMS, RLDRAM, SRAM, “flash” memory (e.g.,NAND/NOR), memristor memory, and PSRAM.

As used herein, the terms “processor”, “microprocessor” and “digitalprocessor” are meant generally to include all types of digitalprocessing devices including, without limitation, digital signalprocessors (DSPs), reduced instruction set computers (RISC),general-purpose (CISC) processors, microprocessors, gate arrays (e.g.,field programmable gate arrays (FPGAs)), PLDs, reconfigurable computerfabrics (RCFs), array processors, secure microprocessors, andapplication-specific integrated circuits (ASICs). Such digitalprocessors may be contained on a single unitary IC die, or distributedacross multiple components.

As used herein, the term “network interface” refers to any signal, data,or software interface with a component, network or process including,without limitation, those of the FireWire (e.g., FW400, FW800, etc.),USB (e.g., USB2), Ethernet (e.g., 10/100, 10/100/1000 (GigabitEthernet), 10-Gig-E, etc.), MoCA, Coaxsys (e.g., TVnet™), radiofrequency tuner (e.g., in-band or OOB, cable modem, etc.), Wi-Fi(802.11), WiMAX (802.16), PAN (e.g., 802.15), cellular (e.g., 3G,LTE/LTE-A/TD-LTE, GSM, etc.) or IrDA families.

As used herein, the terms “pulse”, “spike”, “burst of spikes”, and“pulse train” are meant generally to refer to, without limitation, anytype of a pulsed signal, e.g., a rapid change in some characteristic ofa signal, e.g., amplitude, intensity, phase or frequency, from abaseline value to a higher or lower value, followed by a rapid return tothe baseline value and may refer to any of a single spike, a burst ofspikes, an electronic pulse, a pulse in voltage, a pulse in electricalcurrent, a software representation of a pulse and/or burst of pulses, asoftware message representing a discrete pulsed event, and any otherpulse or pulse type associated with a discrete information transmissionsystem or mechanism.

As used herein, the term “receptive field” is used to describe sets ofweighted inputs from filtered input elements, where the weights may beadjusted.

As used herein, the term “Wi-Fi” refers to, without limitation, any ofthe variants of IEEE-Std. 802.11 or related standards including 802.11a/b/g/n/s/v and 802.11-2012.

As used herein, the term “wireless” means any wireless signal, data,communication, or other interface including without limitation Wi-Fi,Bluetooth, 3G (3GPP/3GPP2), HSDPA/HSUPA, TDMA, CDMA (e.g., IS-95A,WCDMA, etc.), FHSS, 0, GSM, PAN/802.15, WiMAX (802.16), 802.20,narrowband/FDMA, OFDM, PCS/DCS, LTE/LTE-A/TD-LTE, analog cellular, CDPD,RFID or NFC (e.g., EPC Global Gen. 2, ISO 14443, ISO 18000-3), satellitesystems, millimeter wave or microwave systems, acoustic, and infrared(e.g., IrDA).

The present disclosure provides apparatus and methods for detectingconsistent (e.g., temporally proximate) patterns and/or features,according to various implementations. In some implementations, thedetection methodology of temporally persistent patterns of thedisclosure may be applied to processing of sensory data, e.g., an audiosignal, a stream of video frames (such as described with respect to FIG.1 below) and/or other sensory input. In one or more implementations, thedetection methodology may be utilized in order to detect temporallypersistent patterns in motor feedback and/or motor command generation.In one or more implementations, the detection methodology may beutilized in order to detect temporally persistent patterns in linguisticdata: spoken words and/or written passages. By way of an illustration,the detection methodology may be applied in detecting object motionbased on processing of data comprising two or more channels of audiodata. Upon detecting temporally proximate patterns in individual audiochannels, the temporal proximity structure of the identified patternsmay be analyzed in order to extract an underlying motion of the object(e.g., vehicle engine) that may cause the patterns in the audio signal.

FIG. 1 is a functional block diagram depicting a processing apparatususeful for detecting temporally consistent objects in sensory input,according to one or more implementations.

The apparatus 100 may receive input 106. The input 106 may comprise oneor more frames received from an image sensor (e.g., charge-coupleddevice (CCD), CMOS device, and/or an active-pixel sensor (APS),photodiode arrays, and/or other image sensors). In one or moreimplementations, the input may comprise a pixel stream downloaded from afile. An example of such a file may include a stream of two-dimensionalmatrices of red green blue RGB values (e.g., refreshed at a 25 Hz orother suitable frame rate). It will be appreciated by those skilled inthe art when given this disclosure that the above-referenced imageparameters are merely exemplary, and many other image representations(e.g., bitmap, luminance-chrominance (YUV, YCbCr), cyan-magenta-yellowand key (CMYK), grayscale, and/or other image representations) areequally applicable to and useful with the various aspects of the presentdisclosure. Furthermore, data frames corresponding to other (non-visual)signal modalities such as sonograms, IR, radar or tomography images areequally compatible with the processing methodology of the disclosure, oryet other configurations.

The input 106 may be processed by an encoder module 102. The module 102may comprise an artificial neuron network (ANN) comprising a pluralityof nodes. Individual nodes of the module 102 network may comprise neuronunits characterized by a receptive field, e.g., region of space in whicha presence of a stimulus may affect response of the neuron. In someimplementations, the units may comprise spiking neurons and the ANN maycomprise a spiking neuron network, (SNN). Various implementations of SNNmay be utilized with the disclosure, such as, for example, thosedescribed in co-owned, and co-pending U.S. patent application Ser. No.13/774,934, entitled “APPARATUS AND METHODS FOR RATE-MODULATEDPLASTICITY IN A SPIKING NEURON NETWORK” filed Feb. 22, 2013, Ser. No.13/763,005, entitled “SPIKING NETWORK APPARATUS AND METHOD WITH BIMODALSPIKE-TIMING DEPENDENT PLASTICITY” filed Feb. 8, 2013, Ser. No.13/152,105, filed Jun. 2, 2011 and entitled “APPARATUS AND METHODS FORTEMPORALLY PROXIMATE OBJECT RECOGNITION”, Ser. No. 13/487,533, filedJun. 4, 2012 and entitled “SYSTEMS AND APPARATUS FOR IMPLEMENTINGTASK-SPECIFIC LEARNING USING SPIKING NEURONS”, Ser. No. 14/020,376,filed Sep. 9, 2013 and entitled “APPARATUS AND METHODS FOR EVENT-BASEDPLASTICITY IN SPIKING NEURON NETWORKS”, Ser. No. 13/548,071, filed Jul.12, 2012 and entitled “SPIKING NEURON NETWORK SENSORY PROCESSINGAPPARATUS AND METHODS”, commonly owned U.S. patent application Ser. No.13/152,119, filed Jun. 2, 2011, entitled “SENSORY INPUT PROCESSINGAPPARATUS AND METHODS”, Ser. No. 13/540,429, filed Jun. 2, 2012 andentitled “SENSORY PROCESSING APPARATUS AND METHODS”, Ser. No.13/623,820, filed Sep. 20, 2012 and entitled “APPARATUS AND METHODS FORENCODING OF SENSORY DATA USING ARTIFICIAL SPIKING NEURONS”, Ser. No.13/623,838, filed Sep. 20, 2012 and entitled “SPIKING NEURON NETWORKAPPARATUS AND METHODS FOR ENCODING OF SENSORY DATA”, Ser. No.12/869,573, filed Aug. 26, 2010 and entitled “SYSTEMS AND METHODS FORINVARIANT PULSE LATENCY CODING”, Ser. No. 12/869,583, filed Aug. 26,2010, entitled “INVARIANT PULSE LATENCY CODING SYSTEMS AND METHODS”,Ser. No. 13/117,048, filed May 26, 2011 and entitled “APPARATUS ANDMETHODS FOR POLYCHRONOUS ENCODING AND MULTIPLEXING IN NEURONALPROSTHETIC DEVICES”, Ser. No. 13/152,084, filed Jun. 2, 2011, entitled“APPARATUS AND METHODS FOR PULSE-CODE INVARIANT OBJECT RECOGNITION”,Ser. No. 13/239,255 filed Sep. 21, 2011, entitled “APPARATUS AND METHODSFOR SYNAPTIC UPDATE IN A PULSE-CODED NETWORK”, Ser. No. 13/487,576entitled “DYNAMICALLY RECONFIGURABLE STOCHASTIC LEARNING APPARATUS ANDMETHODS”, filed Jun. 4, 2012, and U.S. Pat. No. 8,315,305, entitled“SYSTEMS AND METHODS FOR INVARIANT PULSE LATENCY CODING” issued Nov. 20,2012, each of the foregoing being incorporated herein by reference inits entirety.

Receptive fields of the network 102 units may be configured to spanseveral pixels with the input 106 frames so as to effectuate sparsetransformation of the input 106 into the output 104. Various applicablemethodologies may be utilized in order to effectuate the sparsetransformation, including, for example, those described in co-pendingand co-owned U.S. patent application Ser. No. 13/540,429, entitled“SENSORY PROCESSING APPARATUS AND METHODS”, filed Jul. 2, 2012, and U.S.patent application Ser. No. 13/623,820, entitled “APPARATUS AND METHODSFOR ENCODING OF SENSORY DATA USING ARTIFICIAL SPIKING NEURONS”, filed onSep. 20 2012, each of the foregoing being incorporated herein byreference in its entirety. By way of a non-limiting illustration, a unitwhose receptive field area may cover between 1 and N pixels in the frameof the input 106 may generate an output (e.g., a spike) responsive toone or more pixels having value distinct from background. The sparseoutput v may be expressed as follows:v=Y(x)  (Eqn. 1)where x denotes the input (e.g., a digitized frame), and Y denotes thesparse transformation. In one or more implementations, for an input x ofdimension n and output y of dimension m, the sparse factor M=n/m of thetransformation Y may be selected between n (e.g., a single encoder 102unit response to a frame) and m/5 (20% of encoder 102 units respond toinput frame). In some implementations of ANN (e.g., such as shown anddescribed with respect to FIG. 10B), the sparse transformation maycomprise coupling n-inputs 1032 to m neurons 1036_1, 1036_m viaconnections 1040. Connections 1040 may be characterized by an array ofweights (n×m). Individual weight components of the array may be adjustedduring learning based on adding the input vector to the weights scaledby a small learning rate for the weights corresponding to the smallnumber of neurons that were active for a given input, e.g., using Eqn.11, Eqn. 12. Further, learned weights may be made more independent byemploying Matching-Pursuit or similar methods which orthogonalize theinput being learned.

In some implementations, the input orthogonalization may be described asfollows. When an i-th unit responds to a given feature (e.g., a verticalbar) within an input I, the input I may be modified as follows:I′=I−(I·w _(i))·w _(i),  (Eqn. 2)so thatI′·w _(i)=0.  (Eqn. 3)In Eqn. 2-Eqn. 3 w_(i) denotes a vector of efficacies associated withthe i-th unit; I denotes the initial input that may cause the i-th unitto respond; and I′ denotes residual input ortogonalized with respect tothe given feature. In some implementations, the residual input I′ may beused for training one or more remaining units of the encoder network torespond to one or more features that may be present in the residualinput.

In some implementations of encoding frames of pixels using ANN, theencoder network may comprise between 2 and 10×N units, wherein N is thenumber of pixels per frame. The output of such network may be referredto as sparse based on a subset (e.g., between 1 and 2×N units) of theencoder units being active for a given frame.

It will be appreciated by those skilled in the arts that while the aboveencode example describes encoding frames of pixels, other data may beencoded using methodology described herein. In one or moreimplementations, the space encoding may be applied to time series,sample distributions of observations, motor signals in a roboticapparatus, word patterns in text, and/or other data. The receptivefields of the encoder unit may be configured in accordance withrequirements of a specific application. In one or more implementation,the receptive fields may comprise a Gaussian distribution, an ellipticdistribution, a linear distribution, difference of Gaussiansdistribution, a sigmoid distribution, and/or other distributions. Insome implementations, the receptive field configuration may be learnedduring training.

It will be appreciated by those skilled in the arts that the sparsetransformation may be implemented using a variety of approaches. In someimplementations a thresholding mechanism (e.g., wherein encoder unitsmay be activated based on input pixel value exceeding a fixed or varyingthreshold); sparse coding techniques, spatial averaging (subsampling),and/or other applicable methods may be utilized in order to achievesparse transformation.

The sparse output v 104 may be provided to module 110. The module 110may be configured to determine a similarity matrix S based on the sparsesignal v. The signal v 106 may comprise activity of one or more units ofthe module 102 network. In one or more implementations, the similaritymatrix may be configured based on a comparison of activity of i-th unitat time t v^(i)(t), to activity of the j-th unit at a prior time t-dt:v_(i)(t-dt). The time interval dt may correspond to inter-frame interval(selected, e.g., between 0.1 ms and 10000 ms) associated with the input106.

When the i-th unit is active at time t and j-th unit is active at timet-dt, the similarity matrix i-th, j-th component may be incremented asfollows with two variants of the same form:S ^(i,j)(t)=S ^(i,j)(t−dt)+l, when α(v ^(i)(t))&α(v ^(j)(t−dt))  (Eqn.4)S ^(i,j)(t)=S ^(i,j)(t−dt)+l, when {α(v ^(i)(t))AND α(v^(j)(t−dt))}AOR{α(v ^(j)(t))AND α(v ^(i)(t−dt))}  (Eqn. 5)where l is an increment rate (e.g., selected equal one in theimplementation illustrated in FIGS. 4-5), and function α(x) denotesunits that are active. In one or more implementations, the function α(x)may be configured of the form x≠0, |x|>t, where t is a threshold, and/orother forms. In some implementations, the formulation of Eqn. 4 mayproduce an asymmetric similarity matrix output. The formulation of Eqn.5 may produce a symmetric similarity matrix output.

In one or more implementations, comparison operations associated withdetermination of the similarity measure (e.g., the matrix S of Eqn.4-Eqn. 5) may comprise evaluation of activity status (e.g., responsegenerated or not) of one or more units at time t with activity status ofone or more units at time t−Δt, and/or t+Δt. In some implementationswherein the encoder units may be arranged into a two dimensional pattern(e.g., as in panels 300, 310, 320, 330, 340) the units may be referredto by column/row index. In one or more the units may be referred to byunit ID. The unit ID may comprise a serial number, a tag (as describedfor example in U.S. patent application Ser. No. 13/385,938, entitled“TAG-BASED APPARATUS AND METHODS FOR NEURAL NETWORKS”, filed Mar. 15,2012, incorporated herein by reference in its entirety) a unit type, ageographical coordinate, and/or other information.

In some implementations wherein a number of inactive units exceed anumber of active units, the unit activity function α may correspond tounit generating a response (e.g., a spike in SNN implementations). Inone or more implementations wherein number of active units exceedsnumber inactive units, the unit activity function α may correspond toabsence of response by the unit (e.g., pause as described in U.S. patentapplication Ser. No. 13/761,090, entitled “APPARATUS AND METHODS FORGATING ANALOG AND SPIKING SIGNALS IN ARTIFICIAL NEURAL NETWORKS”, filedFeb. 6, 2013, the foregoing being incorporated herein by reference inits entirety).

The similarity matrix S output 114 of the module 110 may be provided tomodule 120. The module 120 may be configured to segment the similaritymatrix S into two or more partitions containing representations of oneor more features and or objects exhibiting a sufficient degree ofsimilarity. In some implementations, objects characterized by a highdegree of similarity may be merged into a given partition; the degree ofsufficiency for being merged into the same partition may be determinedbased on parameters such as, e.g., the number of partitions, nature ofsimilarities between objects, and/or other parameters. For example, fortwo partitions and 4 objects, two most similar objects may bepartitioned together into first partition. The remaining two objects maybe placed into the remaining (second) partition regardless of theirsimilarity. Various segmentation methodologies may be applied to obtainpartitions, such as, for example, self-organized mapping (SOM), k-meansclustering, spectral clustering, principal component analysis, and/orother methodologies. In some implementations of spectral clustering, aspectrum (e.g., eigenvalues) of the similarity matrix may be determinedin order to reduce dimensionality of the similarity data prior toclustering.

One spectral clustering technique is the normalized cuts algorithm orShi-Malik, commonly used for image segmentation. In accordance with someimplementations, the similarity matrix may be partitioned into two sets(s1,s2) based on the eigenvector e corresponding to the second-smallesteigenvalue of the normalized Laplacian matrix of S

$\begin{matrix}{L = {I - {D^{- \frac{1}{2}}S{D^{- \frac{1}{2}}.}}}} & \left( {{Eqn}.\mspace{14mu} 6} \right)\end{matrix}$where D is the diagonal matrixD _(ii)=Σ_(j) S _(ij).  (Eqn. 7)

Partitioning of the matrix L of Eqn. 6 may be performed using a varietyof approaches. In some implementations, partitioning may be based ondetermining the median MD of the eigenvalue components, and placingpoints whose component is greater than the median into cluster s1. Theremaining components may be assigned to the cluster s2. Such clusteringalgorithm may be used for hierarchical clustering by repeatedlypartitioning the subsets.

In one or more implementations of SOM segmentation, the output 114 ofthe module 110 (the matrix S) may be multiplied by output of the firstcompression stage (e.g., the output v 104 of the sparse transform) asfollows:u=v×S.  (Eqn. 8)When a single unit of the encoder (e.g., unit j) is active the signal vmay comprise one non-zero term so that output u of the Eqn. 8 comprisesa vector selected as a j-th row/column of the similarity matrixcorresponding to the active unit. When multiple units of the encoder(e.g., units j, k, l) are active, the signal v may comprise multiplenon-zero elements so that output u of the Eqn. 8 may be determined as acombination of multiple vectors selected as j,k,l-th rows/columns fromthe similarity matrix. The output u of the Eqn. 8 may be used to performclustering (partitioning) operation based on a similarity measure.

The similarity may be interpreted as follows ways. In someimplementations, elements of the vector u may be considered as themeasure of similarity of the current response v to output of units ofthe sparse transform, since the length of vector u is the same as thenumber of output units of the sparse transform. In one or moreimplementations, the similarity between two inputs may be determined bycomputing their respective output u vectors from Eqn. 3, u1 and u2, andcomputing a distance measure D between u1 and u2. The smaller thedistance D, the more similar are the inputs. The larger the distance Dthe less similar are the inputs. In one or more implementations, thedistance measure may comprise Euclidean distance, cosine of the anglebetween vectors u1 and u2, rectilinear distance, and/or other measures.As the new inputs 106 become available, the signals v (104), S (114) areupdated and the segmentation output is iteratively updated onlineutilizing new available data. Applying a second SOM to performsegmentation utilizes properties of the distance-based similaritydetermination. During SOM operations input patterns with the smallestdistances to one another (e.g., as shown and described below withrespect to FIG. 6) may be mapped together into the same output unit.

In some implementations, SOM operations may be effectuated viaadaptation of efficacies of connections within an ANN, e.g., as shownand described in FIG. 12. Connection efficacy in general may refer to amagnitude and/or probability of input into a unit influencing unitresponse (i.e., output spike generation/firing in a spiking neuronnetwork). The connection efficacy may comprise, for example a parameter(e.g., synaptic weight) by which one or more state variables of the unitmay be changed. In one or more implementations, the efficacy maycomprise a latency parameter characterizing spike propagation delay froma pre-synaptic neuron to a post-synaptic neuron. In someimplementations, greater efficacy may correspond to a shorter latency.

The network 1200 of FIG. 12 may comprise an input layer 1210 (comprisedof units 1202, 1204) and output layer 1230 (comprised of units 1222,1224, 1226). In some SOM implementations of sparse transformation (e.g.,effectuated by module 102 of FIG. 1) the input signal of the layer 1210of FIG. 12 may comprise the sensory signal 106 of FIG. 1. In one or moreSOM implementations of clustering (e.g., effectuated by module 120 ofFIG. 1) the input data of the layer 1210 of FIG. 12 may comprise thesimilarity matrix (e.g., 114 of FIG. 1).

Units of the input layer may be connected to units of the output layervia connections 1220 using, e.g., all-to-all connectivity mapping. For agiven layer 1230 unit (e.g., 1222) weights of the incoming connections(e.g., 1212, 1214) may be adapted as follows. For a given input vectorx={x1, . . . xn} provided by the input layer 1210 to i-th unit of theoutput layer, a distance measure may be computed:D _(i)=

(x−w ^(i))  (Eqn. 9)where w^(i) is the efficacy vector of connections providing the input xto the i-th unit, e.g., when the i-th unit comprises the unit 1222, theefficacy vector w^(i) comprises efficacy w1 of the connection 1212 andefficacy w2 of the connection 1214 of the network 1200. In one or moreimplementations, the operation

may be based on Euclidean distance, cosine of the angle between thevectors x and w^(i), rectilinear distance, and/or other measures. Usingthe formulation of Eqn. 9, a distance vector D{D1, . . . Dm} containingdistances associated with individual units of the output layer 1230 maybe determined.

Based on occurrence of the input provided by the layer 1210 one or moreunits of the output layer 1230 may respond. The responding units may bedetermined based using the distance measure of Eqn. 9. In someimplementations wherein a single unit of the layer 1230 may respond, theresponding unit (e.g., k-th) may correspond to a unit having a minimumdistance Dk associated therewith, for example:D _(k)=min(D)  (Eqn. 10)In one or more implementations wherein a two or more units of the layer1230 may respond, the responding units (e.g., k1, k2) may correspond tounits having a smallest distance Dk associated therewith.

Efficacy of connections 1220 providing input to one or more respondingunits of the layer 1230 may be updated. In some implementations,connection efficacy may be updated as follows:w _(k) ^(i)(t+Δt)=w _(k) ^(i)(t)+γx  (Eqn. 11)where γ is the learning rate, x is the input, w_(k)(t), w_(k) ^(i)(t+Δt)are the initial and the updated efficacies, respectively, of i-thconnection into k-th unit. In one or more implementations, connectionefficacy update may be implemented as followsw _(k) ^(i)(t+Δt)=(1−γ)w _(k) ^(i)(t)+γx.  (Eqn. 12)The input x and/or the efficacy w may be scaled (normalized) to fallwithin a given interval (e.g., 0-1).

These segments, found by the segmenting algorithm, often are associatedwith unique types of objects but agnostic to certain types oftransformations, such as one segment may correspond to all verticallines but agnostic to their location. Similarly another segment maycorrespond to all horizontal lines regardless of their location withinthe visual field. Yet another segment may correspond to diagonal-uplines and another to diagonal-down lines, and/or other input.

FIGS. 2-7 illustrate determination of temporally proximate features insensory input using the methodology of the present disclosure. In one ormore implementations, the temporal proximity detection may be performedby the apparatus 100 described above with respect to FIG. 1.

FIGS. 2, 4 depict input into an encoder of the proximity detector. Theinput of FIG. 2 comprises a plurality of frames 200, 210, 220, 230, 240containing representations 202, 212, 222, 232, 242 of a vertical objectmoving horizontally in a direction 204 across view field. The input ofFIG. 4 comprises a plurality of frames 500, 510, 520, 530, 540containing representations 502, 512, 522, 532, 542 of a horizontalobject moving horizontally in a direction 504 across view field. In oneor more implementations, the frames 200, 210, 220, 230, 240 of FIG. 2and/or the frames 500, 510, 520, 530, 540 of FIG. 5 may be provided byan image sensor (such as a charge-coupled device (CCD), CMOS device,and/or an active-pixel sensor (APS), photodiode arrays, etc.). In someimplementations, the input may comprise a pixel stream downloaded from afile, such as a stream of two-dimensional matrices of red green blue RGBvalues (e.g., refreshed at a 25 Hz or other suitable frame rate). Itwill be appreciated by those skilled in the art when given thisdisclosure that the above-referenced image parameters are merelyexemplary, and many other image representations (e.g., bitmap,luminance-chrominance (YUV, YCbCr), cyan-magenta-yellow and key (CMYK),grayscale, etc.) are equally applicable to and useful with the variousaspects of the present disclosure. Furthermore, data framescorresponding to other (non-visual) signal modalities such as sonograms,IR, radar or tomography images are equally compatible with theprocessing methodology of the disclosure, or yet other configurations,according to one or more implementations.

The input shown FIGS. 2, 4 may be processed by an encoder (e.g., themodule 102 in FIG. 1). The encoder may comprise an artificial neuronnetwork (ANN) comprising a plurality of units. The encoder may implementa sparse transformation wherein a subset of the network units mayrespond to the input stimuli.

FIGS. 3 and 5 depict exemplary output of a neuron network encoder (e.g.,the output 104 of the encoder 102 in FIG. 1) determined based on one ormore input frames (e.g., shown in FIGS. 2, 4, respectively). The datashown in FIGS. 3, 5 are obtained with encoder configuration implementingmaximum sparsity, wherein a single network unit may generate a responseto the input. It will be appreciated by those skilled in the arts thatother sparsity configurations may be employed in accordance withspecifications of a target task.

The output of FIG. 3 comprises a plurality of panels 300, 310, 320, 330,340 wherein individual frames contain a single output (maximum sparsity)denoted by solid circles 302, 312, 322, 332, 342. Data shown in frames200, 210, 220, 230, 240 may correspond to encoder output 104corresponding to the feature (e.g., bar) entering sensing area (e.g.,aperture) of a sensor providing the input 106. Due to the sparseencoding (e.g., of Eqn. 4) implemented by the encoder 102, the encodedsignal of, e.g., the panel 300 in FIG. 3, may comprise output 302. Asthe feature in FIG. 2 progresses rightward along the motion direction204, different encoding neurons may be activated as shown by solidcircles 302, 312, 322, 332, 342 in panels 300, 310, 320, 330, 340. Asthe feature moves across the sampling extent, one or more neurons thatwere active in one panel, may become inactive in one or more subsequentpanel (e.g., as depicted by absence of solid circle at location at thelocation 326 in panel 320 in FIG. 3). In FIG. 3, the outputs 302, 312correspond to the encoder unit in position p1, outputs 322, 332correspond to the encoder unit in position p2, and the output 342corresponds to the encoder unit in position p3.

Horizontal positions of the responses 302, 312, 322, 332, 342 maygradually progress rightward in direction shown by arrow 306 thatcorresponds to the object motion direction 204 in FIG. 2. Accordingly byway of an example, a distance 344 between left edge of the frame 340 andthe response 342 is greater when compared to a distance 304 between leftedge of the frame 300 and the response 302 in FIG. 3.

The output of FIG. 5 comprises a plurality of frames 600, 610, 620, 630,640 wherein individual frames contain a single output (maximum sparsity)denoted by solid circles 602, 612, 622, 632, 642. Horizontal positionsof the responses 602, 612, 622, 632, 642 may gradually progress indirection shown by arrow 606 that corresponds to the rightward objectmotion direction 606 in FIG. 5. Accordingly by way of an example, adistance 644 between left edge of the frame 640 and the response 642 isgreater when compared to a distance 604 between left edge of the frame600 and the response 602 in FIG. 5. In FIG. 6, the outputs 602, 612correspond to the encoder unit in position p4, outputs 622, 632correspond to the encoder unit in position p5, and the output 642corresponds to the encoder unit in position p6.

Panel 350 in FIG. 3 and panel 650 in FIG. 5 depict similarity matricescorresponding to input of FIGS. 2, 4, respectively. The similaritymatrix of FIG. 3 and FIG. 5 may be determined based on Eqn. 4, whereinmatrix element at a location i,j is incremented when unit j is active ata prior instance (e.g., the prior frame) and unit i is active on thecurrent frame. Increments are shown by symbol ‘+’ in panels 350, 630 ofFIGS. 3, 5, wherein multiple symbols correspond to multiple increments.

Broken line arrows are used to relate a given increment ‘+’ in panel 350to relevant unit output activity in panels 300, 310, 320, 330, 340; andincrement in panel 650 to relevant unit output activity in panels 600,610, 620, 630, 640. Specifically, the increment 352 may be based onoutput activity 302, 312 in panels 300, 310, respectively; the increment354 may be based on output activity 312, 322 in panels 310, 320,respectively; the increment 356 may be based on output activity 322, 332in panels 320, 330, respectively the increment 358 may be based onoutput activity 332, 342 in panels 330, 340, respectively. In FIG. 5,the increment 652 may be based on output activity 602, 612 in panels600, 610, respectively; the increment 654 may be based on outputactivity 612, 622 in panels 610, 620, respectively; the increment 656may be based on output activity 622, 632 in panels 620, 630,respectively the increment 658 may be based on output activity 632, 642in panels 630, 640, respectively.

FIG. 6 presents an exemplary distance measure that may be used in theSOM-based segmentation of similarity matrices (e.g., 350, 650). Thedistance matrix 400 of FIG. 6 may represent the Euclidean distancebetween individual elements of similarity matrix (e.g., elements 352,354 of matrix 3560 in FIG. 3). In some implementations, the cosine ofthe angle between vectors u1 and u2, and/or other measures may be usedfor distance determination. When performing the in SOM-basedsegmentation of a plurality of elements (e.g., the elements denoted ‘+’in FIGS. 3, 5), for a given element, the distance to one or moreremaining elements may be evaluated. The given element and an elementcorresponding to the smallest distance to the given element may beassigned the same cluster. By way of an illustration shown in FIG. 6,elements 402, 404 may be assigned to one cluster, as the distances toone another are the closest (e.g., 0.1). Elements 412, 414 may beassigned to another cluster, as the distances to one another are theclosest (e.g., 0.2). It is noteworthy, that in some implementations(e.g., shown and described with respect to FIGS. 6-7) a difference indistance, rather than an absolute value of distance, may be used inassigning elements to clusters using the SOM procedure.

The similarity matrices (e.g., 350, 650 in FIG. 3, 5) may be utilizedfor determining presence of one or more features in input (e.g., 106 inFIG. 1). Output 114 of the module 110 of FIG. 1 may comprise similaritymatrix data that are provided to the module 120. The module 120 of FIG.1 may segment the similarity matrix S into one or more partitionscontaining representations of one or more features and or objectsgrouping together the objects most similar to one another.

FIG. 7 depicts output of the SOM-based segmentation process applied tothe similarity matrix data shown and described above with respect toFIGS. 3, 5. In one or more implementations, the matrix 700 of FIG. 7 maybe obtained based on a combination (e.g., a sum) of matrices 350, 650.In some implementations wherein the classification output may comprisetwo classes, the segmentation methodology may comprise determination ofa distance measure between two given elements, e.g., as described abovewith respect to FIG. 6. Individual elements (e.g., the elements 704,708, 714, 718 denoted by symbol ‘+’) of the matrix 700 may be segmentedinto one or two groups. As shown in FIG. 7, the elements 704, 708 areassigned to group 702; the elements 714, 718 are assigned to group 712.The partitions 702, 712 may correspond to vertical and horizontalfeatures in the input shown in FIGS. 2, 5. In some implementations, agiven elements within a given portion (e.g., the element 704 of theportion 702) may be characterized by a positive similarity to anotherelements within that portion (e.g., the element 708 of the portion 702)and zero similarity to elements of the other portion (e.g., the elements714, 718 of the portion 712).

FIGS. 8 and 9 illustrate methods 800, 900 of determining temporallyproximate patterns and/or features utilizing the methodology of thedisclosure. The operations of methods 700, 800, 900 presented below areintended to be illustrative. In some implementations, method 700, 800,900 may be accomplished with one or more additional operations notdescribed, and/or without one or more of the operations discussed.Additionally, the order in which the operations of method 800, 900 areillustrated in FIGS. 8-9 and described below is not intended to belimiting.

In some implementations, methods 800, 900 may be implemented in one ormore processing devices (e.g., a digital processor, an analog processor,a digital circuit designed to process information, an analog circuitdesigned to process information, a state machine, and/or othermechanisms for electronically processing information). The one or moreprocessing devices may include one or more devices executing some or allof the operations of methods 800, 900 in response to instructions storedelectronically on an electronic storage medium. The one or moreprocessing devices may include one or more devices configured throughhardware, firmware, and/or software to be specifically designed forexecution of one or more of the operations of methods 800, 900.

FIG. 8 illustrates a method of determining temporally proximate patternsin input data in accordance with one or more implementations. Operationsof method 800 may be applied to processing of sensory data (e.g., audio,video, RADAR imagery, SONAR imagery, and/or other imagery), observationdata, motor command activity in a robotic system, and/or other systemsor data.

At operation 802 of method 800, a consecutive input frames are encodedusing sparse transformation. In one or more implementations, the inputframes may be provided by an image sensor (e.g., a charge-coupled device(CCD), CMOS device, and/or an active-pixel sensor (APS), photodiodearrays, and/or other image sensors). In some implementations, the inputmay comprise a pixel stream downloaded from a file, such as a stream oftwo-dimensional matrices of red green blue RGB values (e.g., refreshedat a 25 Hz or other suitable frame rate). It will be appreciated bythose skilled in the art when given this disclosure that theabove-referenced image parameters are merely exemplary, and many otherimage representations (e.g., bitmap, luminance-chrominance (YUV, YCbCr),cyan-magenta-yellow and key (CMYK), grayscale, and/other imagerepresentations) may be applicable to and useful with the variousimplementations. Data frames corresponding to other (non-visual) signalmodalities such as sonograms, IR, radar or tomography images may becompatible with the processing methodology of the disclosure, and/orother configurations. The sparse transformation of operation 802 may beeffectuated by one or more units of ANN characterized by receptivefields configured to evaluate multiple pixels of input frames. In someimplementations of ANN (e.g., such as shown and described with respectto FIG. 10B), the sparse transformation may comprise coupling n-inputs1032 to m neurons 1036_1, 1036_m via connections 1040. Connections 1040may be characterized by an array of weights (n×m). Individual weightcomponents of the array may be adjusted during learning based on addingthe input vector to the weights scaled by a small learning rate for theweights corresponding to the small number of neurons that were activefor a given input. Learned weights can be made more independent byemploying Matching-Pursuit or similar methods which orthogonalize theinput being learned.

At operation 804, a similarity matrix may be determined using the resultof Eqn. 2 or Eqn. 2.1.

At operation 806, the similarity matrix may be partitioned into one ormore segments via a segmentation algorithm. In some implementations, thesegmentation may be effectuated using the SOM approach. First the resultof Eqn. 3 is computed this result is provided as input to the SOM. TheSOM then determines which of the internal units most resembles the input(smallest distance between the internal units' receptive field and theinput); this internal unit that most resembles the input is thendesignated as the unit to respond (output=a). When internal SOM unit iresponds, it indicates the presence of partition/segment number i beingpresent. Output of the segmentation operation 806 may be viewed ascompression of the similarity matrix S into one or more segments thatmay indicate presence of one or more persistent features in the input.In some implementations of ANN (e.g., such as shown and described withrespect to FIG. 10B), the compression of operation 806 transformationmay comprise coupling m-units (1036_1, 1036_m) to k output units (e.g.,two units 1050, 1052 in FIG. 10B) via connections 1042. Connections 1042may be characterized by an array of weights (m×2). Individual weightcomponents of the array may be adjusted during learning based on addingthe input vector to the weights scaled by a small learning rate for theweights corresponding to the small number of neurons that were activefor a given input. Further, learned weights can be made more independentby employing Matching-Pursuit or similar methods which orthogonalize theinput being learned.

FIG. 9 illustrates a method of determining temporally proximate patternsin sensory input, in accordance with one or more implementations.

At operation 902 of method 900, one or more input channels may becoupled to one or more units of an encoder. In some implementations,individual input channels may correspond to pixels of a digital frame;the units may correspond neurons of ANN, (e.g., such as shown anddescribed with respect to FIG. 10B).

At operation 942, one or more units may respond to input stimuli. Unitresponse may be determined based on an evaluation of function of one ormore input elements within receptive field of the unit and/or weightsassociated with connections coupling the input array to the unit arrayof the encoder (e.g., the connections 1040 in FIG. 10B).

At operation 906, one or more responses by the encoder units at time tmay be stored in a buffer. In one or more implementations, the buffermay comprise unit memory (e.g., shift register), e.g. as described in,for example, U.S. patent application Ser. No. 13/239,255 filed Sep. 21,2011, entitled “APPARATUS AND METHODS FOR SYNAPTIC UPDATE IN APULSE-CODED NETWORK”, incorporated by reference supra.

At operation 908 current unit activity and preceding unit activity maybe accessed. In one or more implementations, the unit activity accessmay comprise reading neuron activity memory. Unit activity may beutilized in determining similarity matrix.

At operation 910 a determination may be made as to whether current unitactivity matches prior unit activity. The unit activity evaluation maybe implemented using, e.g., Eqn. 4. In some implementations whereinnumber of inactive units exceeds number active units, the unit activityparameter α may correspond to unit generating a response (e.g., a spikein SNN implementations). In one or more implementations wherein numberof active units exceeds number inactive units, the unit activityparameter α may correspond to absence of response by the unit (e.g.,pause as described in U.S. patent application Ser. No. 13/761,090,entitled “APPARATUS AND METHODS FOR GATING ANALOG AND SPIKING SIGNALS INARTIFICIAL NEURAL NETWORKS”, filed Feb. 6, 2013, the foregoing beingincorporated supra).

Responsive to determination at operation 910 that prior unit activitymatches present unit activity, the method may proceed to operations 912,wherein value of an element of the similarity matrix that is associatedwith the unit being evaluated at operation 910 may be incremented. Theincrement may be effectuated using Eqn. 4 with the increment valueselected equal one in one or more implementations.

Various exemplary computational apparatus configured to implementtemporal proximity detection mechanism of the disclosure are describedbelow with respect to FIGS. 10A-11C.

One such apparatus configured to process sensory information usingtemporal proximity detection methodology of the present disclosure. Theapparatus 1000 may comprise an encoder 1010 that may be configured toreceive sensory input 1002 from at least one sensor apparatus. In someapplications, such as an artificial retinal prosthetic, the input 1002may be a visual input, and the encoder 1010 may comprise one or morediffusively coupled photoreceptive layer as described in U.S. patentapplication Ser. No. 13/540,429, filed Jul. 2, 2012 and entitled“SENSORY PROCESSING APPARATUS AND METHODS”, incorporated supra. Thevisual input may comprise, for instance, ambient visual light capturedthrough, inter alia, an eye lens. For example for the encoding of lightgathered by a lens 1064 in visual capturing device 1060 (e.g.,telescope, motion or still camera) illustrated in FIG. 10C, the sensoryinput 1002 may comprise ambient light stimulus 1062 captured by devicelens 1064. In one or more implementations, (such as the encoder 1076configured for processing of digitized images in a processing apparatus1070 described with respect to FIG. 10C below), the sensory input 1002of FIG. 10A may comprise digitized frame pixel values (RGB, CMYK,grayscale) refreshed at £! suitable rate.

The input 1002 may comprise light gathered by a lens of a portable videocommunication device, such as the device 1080 shown in FIG. 10C. In oneimplementation, the portable device comprises a smartphone configured toprocess still and/or video images using a diffusively coupledphotoreceptive layer. The processing may comprise for instance imageencoding and/or image compression using, for example, a processingneuron layer. In some approaches, encoding and/or compression of theimage may be utilized to aid communication of video data via remote link(e.g., cellular, Bluetooth, Wi-Fi, LTE, etc.), thereby reducingbandwidth demands on the link.

In some implementations, the input may comprise light gathered by a lensof an autonomous robotic device (e.g., a rover, an autonomous unmannedvehicle, etc.), which may include, for example, a camera configured toprocess still and/or video images using, inter alia, one or morediffusively coupled photoreceptive layers. The processing may compriseimage encoding and/or image compression, using for example processingneuron layer. For instance, higher responsiveness of the diffusivelycoupled photoreceptive layer may advantageously be utilized in rovernavigation and/or obstacle avoidance.

It will be appreciated by those skilled in the art that the apparatus1000 may be also used to process other sensory modalities (e.g., audio,somatosensory and/or gustatory), and/or inputs of variouselectromagnetic wavelengths, such as, visible, infrared, ultravioletlight, and/or combination thereof. Furthermore, the bi-modal plasticitymethodology of the disclosure may be equally useful for encoding radiofrequency (RF), magnetic, electric, or sound wave information.

Returning now to FIG. 10A, the input 1002 may be encoded by the encoder1010 using, inter alia, spike latency encoding mechanism described inU.S. patent application Ser. No. 12/869,573, filed Aug. 26, 2010 andentitled “SYSTEMS AND METHODS FOR INVARIANT PULSE LATENCY CODING”, U.S.patent application Ser. No. 12/869,583, filed Aug. 26, 2010, entitled“INVARIANT PULSE LATENCY CODING SYSTEMS AND METHODS”, U.S. patentapplication Ser. No. 13/117,048, filed May 26, 2011 and entitled“APPARATUS AND METHODS FOR POLYCHRONOUS ENCODING AND MULTIPLEXING INNEURONAL PROSTHETIC DEVICES”, U.S. patent application Ser. No.13/152,084, filed Jun. 2, 2011, entitled “APPARATUS AND METHODS FORPULSE-CODE INVARIANT OBJECT RECOGNITION”, each of the foregoing beingincorporated herein by reference in its entirety.

In one implementation, such as illustrated in FIG. 10A, the apparatus1000 may comprise a neural network 1025 configured to detect an objectand/or object features using, for example, temporal proximity detectionmechanism of the disclosure. The encoded input 1012 may comprise aplurality of pulses (also referred to as a group of pulses) transmittedfrom the encoder 1010 via multiple connections (also referred to astransmission channels, communication channels, or synaptic connections)1014 to one or more neuron units (also referred to as the detectors)1022 of the spiking network apparatus 1025. Although only two detectors(1022_1, 1022_n) are shown in the implementation of FIG. 10A (forreasons of clarity), it is appreciated that the encoder 1010 may becoupled to any number of detector nodes that may be compatible with theapparatus 1000 hardware and software limitations. Furthermore, a singledetector node may be coupled to any practical number of encoders. Insome implementations, the input 1002 may be coupled to neurons 1022.

The processing apparatus implementation illustrated in FIG. 10A mayfurther comprise feedback connections 1006. In some variants,connections 1006 may be configured to communicate context information asdescribed in detail in U.S. patent application Ser. No. 13/465,924,entitled “SPIKING NEURAL NETWORK FEEDBACK APPARATUS AND METHODS”, filedMay 7, 2012, incorporated supra.

FIG. 10B illustrates a neuron network processing apparatus configuredfor data classification, in accordance with one or more implementations.The apparatus 1030 may be operated to determine temporally proximatepatterns in the similarity matrix using methodology described herein

The apparatus 1030 may comprise one or more encoders configured toreceive input 1032 from the sensor apparatus. In some visual processingapplications, the input 1032 may comprise digitized pixel streamcharacterizing one or more aspects of the sensory data (e.g.,chromaticity and/or luminance). The input 1032 may comprise othersensory modalities (e.g., audio). In remote sensing applications, theinput 1032 may comprise one or more sensor inputs (e.g., infrared,visual, radio frequency, sound, X-ray, and or other signals).

The input 1032 may be coupled to a layer of encoder units 1036 via aplurality of connections 1040. For input array of size n coupled toencoder layer of size, the connections 1040 may be characterized by anarray of weights (size of n×m). Individual weight components of thearray may be adjusted during learning based on adding the input vectorto the weights scaled by a small learning rate for the weightscorresponding to the small number of neurons that were active for agiven input, e.g., using Eqn. 11, Eqn. 12. Further, learned weights canbe made more independent by employing Matching-Pursuit or similarmethods which orthogonalize the input being learned.

Although only two units (1036_1, 1036_m) are shown in the implementationof FIG. 10B (for reasons of clarity), it is appreciated that the inputlayer of the apparatus 1030 may be coupled to any number of encodernodes that may be compatible with the apparatus 1030 hardware andsoftware. A single detector node may be coupled to any practical numberof encoders.

In one or more implementations, the encoders 1036_1, 1036_m may containlogic (which may be implemented as a software code, hardware logic,and/or a combination of thereof) configured to generate a response basedon a combination of inputs 1032 and weights 1040 associated with therespective encoder unit.

Encoded output (e.g., v of Eqn. 1) of the units 1036_1 to 1036_m may beprovided to module 1038. The module 1038 may implement similarity matrixdetermination (e.g., using Eqn. 4, Eqn. 5). The module 1038 may containlogic (which may be implemented as a software code, hardware logic,and/or a combination of thereof) configured to determine input 1044 intomodule comprising units 10461, 1046_2. In some implementations, theinput into the input 1044 may be determined based on the similaritymatrix using, e.g., Eqn. 8. The units neurons 1046_1, 1046_2 may bereferred to as a classification layer.

In some implementations, e.g., such as illustrated in FIG. 7, theclassification layer of apparatus 1030 may comprise two units 1036_1,10362 configured to generate signal indicating as to whether a givenpattern within the similarity matrix matches one of the two classes(e.g., partitions 702, 712 in FIG. 7). For encoder layer of size m, theconnections 1044 may be characterized by an array of weights (size of2×m). Individual weight components of the array of connection 1044weights may be adjusted during learning based on adding the input vectorto the weights scaled by a small learning rate for the weightscorresponding to the small number of neurons that were active for agiven input, e.g., using Eqn. 11, Eqn. 12. Learned weights can be mademore independent by employing Matching-Pursuit or similar methods whichorthogonalize the input being learned.

The output of the classification layer units 1036_1, 1036_m, may beprovided to other components (e.g., a motor control blocks, saccadingblock).

FIG. 10C illustrates exemplary uses of temporal proximity detectionmethodology described herein. The visual processing apparatus 1060 ofFIG. 10C comprises a feature detector 1066, adapted for use with ambientvisual input 1062. The detector 1066 of the processing apparatus 1060 isdisposed behind a light gathering block 1064 and receive ambient lightstimulus 1062. The light gathering block 1064 may comprise a telescope,motion or still camera, microscope. Accordingly, the visual input 1062may comprise ambient light captured by a lens. The light gathering block1064 may further comprise an imager apparatus (e.g., CCD, anactive-pixel sensor array, and/or other imager apparatus) and maygenerate a stream of pixel values.

In various implementations, temporal proximity detection mechanism maybe employed in the visual processing apparatus 1070 shown and describedwith respect to FIG. 10C. The visual processing apparatus 1070 may beconfigured for digitized visual input processing. The visual processingapparatus 1070 may comprise a feature detector 1076, adapted for usewith digitized visual input 1072. The visual input 1072 of FIG. 10C maycomprise for example digitized frame pixel values (e.g., RGB, CMYK,grayscale, and/or other pixel values) that may be refreshed from adigital storage device 1074 at a suitable rate.

The encoder apparatus 1066, 1076 may employ, for example, an artificialneuron network, configured in accordance with one or more plasticityrules, such as described in U.S. patent application Ser. No. 13/763,005,entitled “SPIKING NETWORK APPARATUS AND METHOD WITH BIMODAL SPIKE-TIMINGDEPENDENT PLASTICITY”, filed Feb. 8, 2013, incorporated supra.

In one or more implementations, the video capture device 1160 and/orprocessing apparatus 1070 may be embodied in a portable visualcommunications device 1080, such as smartphone, digital camera, securitycamera, and/or digital video recorder apparatus, and/or other. Thefeature detection techniques of the present disclosure may be used tocompress visual input (e.g., 1062, 1072 in FIG. 10C) in order to reducethe bandwidth that may be utilized for transmitting processed output(e.g., the output 1068, 1078 in FIG. 10C) by the apparatus 1080 via awireless communications link 1082 in FIG. 10C.

One exemplary implementation of the computerized neuromorphic processingsystem, for implementing temporal proximity detection methodologydescribed herein, is illustrated in FIG. 11A. The computerized system1100 of FIG. 1 1A may comprise an input device and/or sensor apparatus1110, such as, for example, an image sensor and/or digital imageinterface. The sensor apparatus 1110 may be coupled to the processingblock (e.g., a single or multi-processor block) via the inputcommunication interface 1114. In some implementations, the interface1114 may comprise a wireless interface (e.g., cellular wireless, Wi-Fi,Bluetooth, and/or other wireless interface) that enables data transferto the processor 1102 from remote I/O interface 1100. One suchimplementation may comprise a central processing apparatus, configuredto employ bi-modal plasticity and coupled to one or more remote cameradevices.

The system 1100 further may comprise a random access memory (RAM) 1108,configured to store neuronal states and connection parameters and tofacilitate synaptic updates. In some implementations, synaptic updatesare performed according to the description provided in, for example, inU.S. patent application Ser. No. 13/239,255 filed Sep. 21, 2011,entitled “APPARATUS AND METHODS FOR SYNAPTIC UPDATE IN A PULSE-CODEDNETWORK”, incorporated by reference supra.

In some implementations, the memory 1108 may be coupled to the processor1102 via a direct connection (memory bus) 1116, and/or via a high-speedprocessor bus 1112. In some implementations, the memory 1108 may beembodied within the processor block 1102.

The system 1100 may further comprise a nonvolatile storage device 1106,comprising, inter alia, computer readable instructions configured toimplement various aspects of spiking neuronal network operation (e.g.,sensory input encoding, connection plasticity, operational models ofneurons, and/or other spiking neuronal network operation). Thenonvolatile storage 1106 may be used to store state information of theneurons and connections when, for example, saving/loading network statesnapshot, or implementing context switching (e.g., saving currentnetwork configuration (comprising, inter alia, connection weights andupdate rules, neuronal states and learning rules, and/or other networkconfiguration components) for later use and loading previously storednetwork configuration).

In some implementations, the computerized apparatus 1100 may be coupledto one or more external devices (e.g., an external processing device, anexternal storage device, an external input device) via an I/O interface1120, such as a computer I/O bus (PCI-E), wired (e.g., Ethernet) orwireless (e.g., Wi-Fi) network connection.

It will be appreciated by those skilled in the arts that variousprocessing devices may be used with computerized system 1100, includingbut not limited to, a single core/multicore CPU, DSP, FPGA, GPU, ASIC,combinations thereof, and/or other processors. Various user input/outputinterfaces are similarly applicable to implementations including, forexample, an LCD/LED monitor, touch-screen input and display device,speech input device, stylus, light pen, trackball, and/or otherinput/output interfaces.

FIG. 11B, depicts a neuromorphic computerized system configured forimplementing temporal proximity detection methodology described supra.The neuromorphic processing system 1130 of FIG. 11B may comprise aplurality of processing blocks (micro-blocks) 1140, where individualmicro cores may comprise logic block 1132 and memory block 1134, denotedby ‘L’ and ‘M’ rectangles, respectively, in FIG. 11B. The logic block1132 may be configured to implement various aspects of featuredetection, such as the latency encoding, neuron unit dynamic model,detector nodes 1022 of FIG. 10A, and/or nodes 1050, 1052 of FIG. 10B.The logic block may implement connection updates (e.g., the connections1014, 1026 in FIG. 10A) and/or other tasks relevant to networkoperation. In some realizations of spiking neuron networks, the updaterules may comprise rules spike time dependent plasticity (STDP) updates,such as shown and described in Patent Application '005 references above.The memory block 1134 may be configured to store, inter alia, neuronalstate variables and connection parameters (e.g., weights, delays, I/Omapping) of connections 1138.

One or more micro-blocks 1140 may be interconnected via connections1138, routers 1136, and/or a bus 1137. In one or more implementations(not shown), the router 1136 may be embodied within the micro-block1140. It is appreciated by those skilled in the arts, the connectionlayout in FIG. 11B is exemplary and many other connectionimplementations (e.g., one to all, all to all, etc.) are compatible withthe disclosure.

The neuromorphic apparatus 1130 may be configured to receive input(e.g., visual input) from the interface 1142 in one or moreimplementations, applicable for example to interfacing with a pixelarray, the apparatus 1130 may also provide feedback information via theinterface 1142 to facilitate encoding of the input signal.

The neuromorphic apparatus 1130 may be configured to provide output(e.g., an indication of recognized object or a feature, or a motorcommand, for example, to zoom/pan the imaging array) via the interface1144.

The apparatus 1130, in one or more implementations, may interface toexternal fast response memory (e.g., RAM) via high bandwidth memoryinterface 1148, thereby enabling storage of intermediate networkoperational parameters (e.g., spike timing, etc.). In one or moreimplementations, the apparatus 1130 may also interface to externalslower memory (e.g., flash, or magnetic (hard drive)) via lowerbandwidth memory interface 1146, in order to facilitate program loading,operational mode changes, and retargeting, where network node andconnection information for a current task may be saved for future useand flushed, and previously stored network configuration may be loadedin its place, as described for example in co-pending and co-owned U.S.patent application Ser. No. 13/487,576 entitled “DYNAMICALLYRECONFIGURABLE STOCHASTIC LEARNING APPARATUS AND METHODS”, filed Jun. 4,2012, the foregoing being incorporated herein by reference in itsentirety.

FIG. 11C, illustrates a cell-based hierarchical neuromorphic systemarchitecture configured to implement temporal proximity detectionmethodology described supra. The neuromorphic system 1150 of FIG. 11Cmay comprise a hierarchy of processing blocks (cells block) 1140. Insome implementations, the lowest level L1 cell 1152 of the apparatus1150 may comprise logic and memory and may be configured similar to themicro block 1140 of the apparatus shown in FIG. 11B, supra. A number ofcell blocks 1052 may be arranges in a cluster 1154 and communicate withone another via local interconnects 1162, 1164. Each such cluster mayform higher level cell, e.g., cell denoted L2 in FIG. 11C. Several L2level clusters may communicate with one another via a second levelinterconnect 1166 and form a super-cluster L3, denoted as 1156 in FIG.11C. The super-clusters 1156 may communicate via a third levelinterconnect 1168 and may form a higher-level cluster. It will beappreciated by those skilled in the arts that hierarchical structure ofthe apparatus 1150, comprising four cells-per-level, shown in FIG. 11Crepresents one exemplary implementation and other implementations maycomprise more or fewer cells per level, and/or fewer or more levels.

Different cell levels (e.g., L1, L2, L3) of the apparatus 1150 may beconfigured to perform functionality various levels of complexity. In oneimplementation, different L1 cells may process in parallel differentportions of the visual input (e.g., encode different framemacro-blocks), with the L2, L3 cells performing progressively higherlevel functionality (e.g., edge detection, object detection). DifferentL2, L3, cells may perform different aspects of operating, for example, arobot/The robot may have one or more L2/L3 cells processing visual datafrom a camera, and other L2/L3 cells operating motor control block forimplementing lens motion what tracking an object or performing lensstabilization functions.

The neuromorphic apparatus 1150 may receive visual input (e.g., theinput 1002 in FIG. 10C) via the interface 1160. To interface with alatency encoder and/or an image array, the apparatus 1150 may providefeedback information via the interface 1160 to facilitate encoding ofthe input signal.

The neuromorphic apparatus 1150 may provide output (e.g., an indicationof recognized object or a feature, or a motor command, e.g., to zoom/panthe image array) via the interface 1170. In some implementations, theapparatus 1150 may perform all of the I/O functionality using single I/Oblock (e.g., the I/O 1160 of FIG. 11C).

The apparatus 1150, in one or more implementations, may interface toexternal fast response memory (e.g., RAM) via high bandwidth memoryinterface (not shown), thereby enabling storage of intermediate networkoperational parameters (e.g., spike timing, etc.). The apparatus 1150may also interface to a larger external memory (e.g., flash, or magnetic(hard drive)) via a lower bandwidth memory interface (not shown), inorder to facilitate program loading, operational mode changes, andretargeting, where network node and connection information for a currenttask may be saved for future use and flushed, and previously storednetwork configuration may be loaded in its place. Exemplaryimplementations of this process are described in co-pending and co-ownedU.S. patent application Ser. No. 13/487,576, filed Jun. 4, 2012 andentitled “DYNAMICALLY RECONFIGURABLE STOCHASTIC LEARNING APPARATUS ANDMETHODS”, incorporated supra.

The networks of the apparatus 1130, 1145, 1150 may be implemented usingElementary Network Description (END) language, described for example inU.S. patent application Ser. No. 13/239,123, entitled “ELEMENTARYNETWORK DESCRIPTION FOR NEUROMORPHIC SYSTEMS WITH PLURALITY OF DOUBLETSWHEREIN DOUBLET EVENTS RULES ARE EXECUTED IN PARALLEL”, filed Sep. 21,2011, and/or a High Level Neuromorphic Description (HLND) framework,described for example in U.S. patent application Ser. No. 13/385,938,entitled “TAG-BASED APPARATUS AND METHODS FOR NEURAL NETWORKS”, filedMar. 15, 2012, each of the foregoing being incorporated herein byreference in its entirety. In some implementations, the HLND frameworkmay be configured to handle event-based update methodology described,for example U.S. patent application Ser. No. 13/588,774, entitled“APPARATUS AND METHODS FOR IMPLEMENTING EVENT-BASED UPDATES IN SPIKINGNEURON NETWORK”, filed Aug. 17, 2012, the foregoing being incorporatedherein by reference in its entirety. In some implementations, thenetworks may be updated using an efficient network update methodology,described, for example, in U.S. patent application Ser. No. 13/239,259,entitled “APPARATUS AND METHOD FOR PARTIAL EVALUATION OF SYNAPTICUPDATES BASED ON SYSTEM EVENTS”, filed Sep. 21, 2011 and U.S. patentapplication Ser. No. 13/560,891, entitled “APPARATUS AND METHODS FOREFFICIENT UPDATES IN SPIKING NEURON NETWORK”, filed Jul. 27, 2012, eachof the foregoing being incorporated herein by reference in its entirety.

In some implementations, the HLND framework may be utilized to definenetwork, unit type and location, and/or synaptic connectivity. HLND tagsand/or coordinate parameters may be utilized in order to, for example,define an area of the localized inhibition of the disclosure describedabove.

In some implementations, the END may be used to describe and/or simulatelarge-scale neuronal model using software and/or hardware engines. TheEND allows optimal architecture realizations comprising ahigh-performance parallel processing of spiking networks withspike-timing dependent plasticity. Neuronal network configured inaccordance with the END may comprise units and doublets, the doubletsbeing connected to a pair of units. Execution of unit update rules forthe plurality of units is order-independent and execution of doubletevent rules for the plurality of doublets is order-independent.

In one or more implementations, the efficient update methodology (e.g.,for adjusting input connections and/or inhibitory traces) may compriseperforming of pre-synaptic updates first, followed by the post-synapticupdates, thus ensuring the up-to-date status of synaptic connections. Insome implementations, the efficient update methodology may compriserules, configured to adjust inhibitory trace without necessitatingevaluation of the neuron post-synaptic response.

Methodology for detecting temporally proximate patterns may be utilizedin processing of sensory data, bibliographic classification, imagebrowsing systems, medical Diagnosis, processing of geophysical data(e.g., interpreting seismic activity), speech recognition, datacompression, identifying sound sources, environmental modelling, and/orin other applications.

Various aspects of the disclosure may advantageously be applied todesign and operation of apparatus configured to process sensory data.Utilizing the temporal continuity of spatial transformations of anobject may allow a learning system to bind temporally proximal entitiesinto a single object, as opposed to several separate objects. This mayreduce memory requirement for storing object data, increase processingspeed, and/or improve object detection/recognition accuracy. Theseadvantages may be leveraged to increase processing throughput (for agiven neuromorphic hardware resources) and/or perform the sameprocessing with a reduced complexity and/or cost hardware platform,compared to the prior art.

The principles described herein may be combined with other mechanisms ofdata encoding in neural networks, such as those described in U.S. patentapplication Ser. No. 13/152,084 entitled APPARATUS AND METHODS FORPULSE-CODE INVARIANT OBJECT RECOGNITION”, filed Jun. 2, 2011, and U.S.patent application Ser. No. 13/152,119, Jun. 2, 2011, entitled “SENSORYINPUT PROCESSING APPARATUS AND METHODS”, and U.S. patent applicationSer. No. 13/152,105 filed on Jun. 2, 2011, and entitled “APPARATUS ANDMETHODS FOR TEMPORALLY PROXIMATE OBJECT RECOGNITION”, incorporated,supra.

Advantageously, exemplary implementations of the present innovation maybe useful in a variety of applications including, without limitation,video prosthetics, autonomous and robotic apparatus, and otherelectromechanical devices requiring video processing functionality.Examples of such robotic devises are manufacturing robots (e.g.,automotive), military, medical (e.g. processing of microscopy, x-ray,ultrasonography, tomography). Examples of autonomous vehicles includerovers, unmanned air vehicles, underwater vehicles, smart appliances(e.g. ROOMBA®), and/or other autonomous vehicles

Implementations of the principles of the disclosure are applicable tovideo data processing (e.g., compression) in a wide variety ofstationary and portable video devices, such as, for example, smartphones, portable communication devices, notebook, netbook and tabletcomputers, surveillance camera systems, and practically any othercomputerized device configured to process vision data

Implementations of the principles of the disclosure are furtherapplicable to a wide assortment of applications including computer-humaninteraction (e.g., recognition of gestures, voice, posture, face, and/orother interactions), controlling processes (e.g., processes associatedwith an industrial robot, autonomous and other vehicles, and/or otherprocesses), augmented reality applications, organization of information(e.g., for indexing databases of images and image sequences), accesscontrol (e.g., opening a door based on a gesture, opening an access waybased on detection of an authorized person), detecting events (e.g., forvisual surveillance or people or animal counting, tracking), data input,financial transactions (payment processing based on recognition of aperson and/or a special payment symbol) and/or other applications.

In another approach, portions of the object recognition system areembodied in a remote server, comprising a computer readable apparatusstoring computer executable instructions configured to perform patternrecognition in data streams for various applications, such asscientific, geophysical exploration, surveillance, navigation, datamining (e.g., content-based image retrieval). Myriad other applicationsexist that will be recognized by those of ordinary skill given thepresent disclosure.

Although the system(s) and/or method(s) of this disclosure have beendescribed in detail for the purpose of illustration based on what iscurrently considered to be the most practical and preferredimplementations, it is to be understood that such detail is solely forthat purpose and that the disclosure is not limited to the disclosedimplementations, but, on the contrary, is intended to covermodifications and equivalent arrangements that are within the spirit andscope of the appended claims. For example, it is to be understood thatthe present disclosure contemplates that, to the extent possible, one ormore features of any implementation can be combined with one or morefeatures of any other implementation.

What is claimed:
 1. A system for temporal proximity detection,comprising: a sensor apparatus configurable to receive input of firstsensory data generated at a first time, and second sensory datagenerated at a second time; a processing device configurable to executecomputer readable instructions to: cause an encoder to reduce the firstsensory data into a first frame and the second sensory data into asecond frame, the encoder comprising a plurality of nodes, wherein eachone of respective plurality of nodes corresponds to a respective node,generate a similarity matrix comprising a first element indicative atleast in part of a comparison between activations of one or morerespective nodes in the first frame and a second element indicative ofactivations of one or more respective nodes in the second frame, theactivations of the one or more respective nodes in the first frame areindependent of the one or more respective nodes in the second frame,assign the first and second elements to a first cluster of a pluralityof clusters based on a difference measure of the first and secondelements, the assignment of the first and second elements to the firstcluster indicates the presence of at least one temporally persistentfeature in the first and second sensory data; and produce a motorcontrol output to move a robotic device in response to the at least onetemporally persistent feature detected based at least in part on thefirst cluster, wherein the first element is stored in a memory bufferuntil the second sensory data is received and the corresponding secondelement is generated for the similarity matrix.
 2. The system of claim1, wherein the first sensory data and the second sensory data areimages.
 3. The system of claim 1, wherein the sensor apparatus isconfigurable to generate the first sensory data and the second sensorydata.
 4. The system of claim 3, wherein the sensor apparatus comprisesat least one of a visible light sensor, camera, audio sensor, pressuresensor, and radar device.
 5. The system of claim 1, wherein thesegmentation includes an evaluation of a distance between one or moreelements of the similarity matrix.
 6. The system of claim 1, wherein thefirst and second elements of the first cluster are characterized by asimilarity to one or more elements within the same cluster and nosimilarity to one or more elements in other clusters of the plurality ofclusters.
 7. The system of claim 1, wherein the activations of the oneor more nodes in the first frame create an identification.
 8. The systemof claim 1, wherein the first frame and the second frame comprisedifferent modalities.
 9. The system of claim 1, wherein the first timeand the second time occur within a time window having a duration between0.1 milliseconds to 10 seconds, inclusive.
 10. A method for temporalproximity detection, comprising: receiving, from a sensor apparatus,input of first sensory data generated at a first time and second sensorydata generated at a second time; causing an encoder to reduce the firstsensory data into a first frame and the second sensory data into asecond frame, the encoder comprising a plurality of nodes, wherein eachone of respective plurality of nodes corresponds to a respective node;generating a similarity matrix comprising a first element indicative atleast in part of a comparison between activations of one or morerespective nodes in the first frame and a second element indicative ofactivations of one or more respective nodes in the second frame, theactivations of the one or more respective nodes in the first frame areindependent of the one or more respective nodes in the second frame;assigning the first and second elements to a first cluster of aplurality of clusters based on a difference measure of the first andsecond elements, the assignment of the first and second elements to thefirst cluster indicates the presence of at least one temporallypersistent feature in the first and second sensory data; and producing amotor control output to configured to move a robotic device in responseto the at least one temporally persistent feature detected based atleast in part on the first cluster, wherein the first element is storedin a memory buffer until the second sensory data is received and thecorresponding second element is generated for the similarity matrix. 11.The method of claim 10, further comprising: identifying temporallyproximate patterns of the first sensory data and the second sensory databased at least on the plurality of clusters of the similarity matrix.12. The method of claim 10, wherein: the first sensory data and thesecond sensory data are images.
 13. The method of claim 11, wherein theidentifying of the temporally persistent feature comprises determiningsimilarity to one or more elements within the first cluster and nosimilarity between the one or more elements of the first cluster andelements of a second cluster of the plurality of clusters.
 14. Themethod of claim 10, wherein the segmenting comprises at least one ofself-organized mapping, k-means, clustering, spectral clustering, sparsecoding, and principal component analysis.
 15. The method of claim 10,wherein the first time and the second time occur within a time windowhaving a duration between 0.1 milliseconds to 10 seconds, inclusive. 16.A non-transitory computer-readable storage medium comprising a pluralityof computer readable instructions stored thereon, that when executed bya processing device configure the processing device to: receive, from asensor apparatus, input of first sensory data generated at a first timeand second sensory data generated at a second time; cause an encoder toreduce the first sensory data into a first frame and the second sensorydata into a second frame, the encoder comprising a plurality of nodes,wherein each one of respective plurality of nodes corresponds to arespective node; generate a similarity matrix comprising a first elementindicative at least in part of a comparison between activations of oneor more respective nodes in the first frame and a second elementindicative of activations of one or more respective nodes in the secondframe, the activations of the one or more respective nodes in the firstframe are independent of the one or more respective nodes in the secondframe; assign the first and second elements to a first cluster of aplurality of clusters based on a difference measure of the first andsecond elements, the assignment of the first and second elements to thefirst cluster indicates the presence of at least one temporallypersistent feature in the first and second sensory data; and produce amotor control output to configured to move a robotic device in responseto the at least one temporally persistent feature detected based atleast in part on the first cluster, wherein the first element is storedin a memory buffer until the second sensory data is received and thecorresponding second element is generated for the similarity matrix. 17.The non-transitory computer-readable storage medium of claim 16, whereinthe processing device is configured to perform a sparse transformationon the first and second sensory data.
 18. The non-transitorycomputer-readable storage medium of claim 16, wherein the first frameand the second frame each correspond to activations of the respectiveone or more nodes in the first and second frames.
 19. The non-transitorycomputer-readable storage medium of claim 18, wherein the activations ofthe one or more respective nodes in the first and second frames forms anidentification of the first frame and of the second frame.
 20. Thenon-transitory computer-readable storage medium of claim 16, wherein theprocessing device is further configured to execute the computer readableinstructions to further cause the processing apparatus to identifytemporal proximity based at least in part on elements being within asame partition.
 21. The non-transitory computer-readable storage mediumof claim 17, wherein the sparse transformation comprises at least one ofthresholding, sparse coding, and spatial averaging.
 22. Thenon-transitory computer-readable storage medium of claim 18, wherein theone or more respective nodes in the first and second frames form anartificial neural network.
 23. The non-transitory computer-readablestorage medium of claim 16, wherein the first time and the second timeoccur within a time window having a duration between 0.1 milliseconds to10 seconds, inclusive.